Robot Base Station Localization Using Geometric Feature Detection
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Solution Overview
Problem
Autonomous mobile robots face challenges in reliably identifying and localizing their base stations, especially in environments with disturbances or shifting base stations, which can lead to failed docking maneuvers due to odometry errors and obstacles.
Innovation Solution
The system employs a navigation module with a navigation sensor that detects geometric features of the base station, allowing the robot to identify and localize it without special markings or signals, and includes methods for recalibrating the navigation sensor using the base station's geometric features, updating the base station's position on a map, and navigating around obstacles to ensure successful docking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the robot uses odometry for navigation and base station localization, then the system complexity is reduced, but the measurement precision and reliability deteriorate due to odometry errors and environmental disturbances
Solution Approach 1:
The patent introduces geometric features of the base station as an intermediary reference object. Instead of relying directly on odometry, the robot detects these features to establish a reliable reference frame for localization, mediating between the robot's movement and the base station's position
Solution Approach 2:
The system implements feedback by continuously detecting geometric features and comparing them against expected patterns. When deviations are detected (indicating odometry errors or base station movement), the system corrects the localization estimate based on the observed feature positions
2Ease of operation
If the robot relies on pre-mapped base station position, then the ease of operation is improved, but the reliability worsens when the base station is shifted or obstacles are present
Solution Approach 1:
The system performs preliminary detection of geometric features before executing the docking maneuver. By identifying and validating the base station's geometric features in advance, the system ensures reliable localization even when the pre-mapped position has changed due to base station movement or obstacles
Solution Approach 2:
The system dynamically adapts the docking process by continuously detecting geometric features and adjusting the docking position and orientation accordingly. This dynamic approach allows the robot to handle unexpected changes in the base station position or environment
3Ease of manufacture
If no special markings or signals are used on the base station, then the ease of manufacture is improved, but the difficulty of detecting and measuring increases
Solution Approach 1:
The patent applies local quality by utilizing specific geometric features (edges, corners, surfaces) of the base station housing that are inherent to its structure. These local geometric properties provide sufficient information for detection without requiring additional markings or signals across the entire base station
Solution Approach 2:
The base station's own geometric structure serves the dual purpose of both housing components and detection features. The housing edges and surfaces that define the base station's physical form also provide the geometric features necessary for robot detection and localization, eliminating the need for separate marking systems
Data Source
AI summary
In the following, a system having an autonomous mobile robot and a base station for the robot is described. In accordance with one example, the robot comprises a navigation module with a navigation sensor for detecting geometric features of objects in the environment of the robot. The base station has at least one geometric feature which can be detected by the robot by means of the navigation sensor. The robot includes a robot controller that is coupled with the navigation module, the robot controller being configured to identify and/or localize the base station and/or to determine a docking position of the robot based on the at least one geometric feature of the base station.